EP3195186B1 - Procédé et dispositif pour surveiller un stationnement automatique d'un véhicule - Google Patents

Procédé et dispositif pour surveiller un stationnement automatique d'un véhicule Download PDF

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Publication number
EP3195186B1
EP3195186B1 EP15748029.4A EP15748029A EP3195186B1 EP 3195186 B1 EP3195186 B1 EP 3195186B1 EP 15748029 A EP15748029 A EP 15748029A EP 3195186 B1 EP3195186 B1 EP 3195186B1
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EP
European Patent Office
Prior art keywords
vehicle
parking
video image
mobile terminal
automatic parking
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP15748029.4A
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German (de)
English (en)
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EP3195186A1 (fr
Inventor
Thomas Fuehrer
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
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Robert Bosch GmbH
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Filing date
Publication date
Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of EP3195186A1 publication Critical patent/EP3195186A1/fr
Application granted granted Critical
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Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/123—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams
    • G08G1/127—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams to a central station ; Indicators in a central station
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/027—Parking aids, e.g. instruction means
    • B62D15/0285—Parking performed automatically
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/06—Automatic manoeuvring for parking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/04—Monitoring the functioning of the control system
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/40—Scenes; Scene-specific elements in video content
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/52—Surveillance or monitoring of activities, e.g. for recognising suspicious objects
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • G06V20/586—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of parking space
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30232—Surveillance
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30248—Vehicle exterior or interior
    • G06T2207/30252—Vehicle exterior; Vicinity of vehicle
    • G06T2207/30264—Parking
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/60—Type of objects
    • G06V20/62—Text, e.g. of license plates, overlay texts or captions on TV images
    • G06V20/625—License plates

Definitions

  • the invention relates to a method and a device for monitoring automatic parking of a vehicle.
  • the invention further relates to a system for monitoring automatic parking of a vehicle.
  • the invention further relates to a parking system for parking vehicles.
  • a driver assistance device is known with which the driver of a motor vehicle can easily recognize a dangerous situation during an autonomous parking operation of the motor vehicle.
  • the control device of the driver assistance device is designed to receive commands from a remote control and, after receiving a predetermined interruption command, initiates an already started parking operation of the driver Motor vehicle interrupt.
  • At least one on-board camera is coupled to the control device and obtains image data about a surrounding area of the motor vehicle.
  • the control device sends signals to the remote control which comprise the image data obtained by the camera or image data calculated therefrom.
  • the WO 2013/156361 A1 discloses a maneuvering system for automated maneuvering of a motor vehicle having an on-vehicle control device (3) and a user-operable portable communication device configured to wirelessly communicate with the on-vehicle control device and thereby maneuvering in response to an input from the user at a control device of the portable communication device to release and / or interrupt.
  • the KR 2014 0073131 A discloses a method for automatically parking a vehicle, wherein external cameras located in a parking garage are used to control the automatic maneuver.
  • the WO 2006/064544 A1 discloses a method for automatically parking a vehicle, wherein at least one video image of an off-board camera is sent to the vehicle and displayed on a display of the navigation device of the vehicle.
  • the object underlying the invention can therefore be seen to provide a method for monitoring automatic parking of a vehicle, which makes it possible to monitor or track a vehicle during the automatic parking operation.
  • the object on which the invention is based can furthermore be seen in the specification of a corresponding device for monitoring automatic parking of a vehicle.
  • the object underlying the invention may further be seen in providing a corresponding system for monitoring automatic parking of a vehicle.
  • the object underlying the invention can also be seen to provide a corresponding parking system for parking vehicles.
  • a method of monitoring automatic parking of a vehicle wherein at least one video image is captured from a performance of automatically parking the vehicle being sent to a mobile terminal.
  • an apparatus for monitoring automatic parking of a vehicle comprising video capture means for capturing a video image of performing automatic parking and a communication interface adapted to transmit the captured video image to a mobile terminal.
  • a system for monitoring automatic parking of a vehicle comprising the apparatus of the invention and a mobile terminal comprising a communication interface adapted to receive the captured video image.
  • a parking system for parking vehicles, including one or more parking spaces for parking vehicles and the apparatus of the invention.
  • a vehicle which comprises the device according to the invention. That is, according to one embodiment, a vehicle is provided, comprising at least one in-vehicle video camera for recording a video image during automatic parking and a communication interface for transmitting the recorded video image to a mobile terminal.
  • the invention therefore particularly includes the idea of recording the automatic parking process of the vehicle and of transmitting the recorded video image to a mobile terminal.
  • the technical advantage is achieved that a user of the mobile terminal can monitor or track the parking process of his vehicle. This particular regardless of the location of the user.
  • the driver in this case the user, can be far away from the place where the vehicle is automatically parked.
  • a driver at the entrance of a parking garage leave his vehicle and lock. His vehicle then parks automatically, without any intervention from the driver.
  • This parking process is recorded and sent to the user's mobile device.
  • the driver can already be in a shopping center or in a hotel and can monitor the automatic parking process from there.
  • the automatic parking is referred to in particular as a "valet parking”.
  • "Automatic" here means in particular without intervention or intervention of a driver.
  • the vehicle is parked autonomously or independently.
  • the transmission of the video image to the mobile terminal is carried out in particular via a communication network.
  • the communication network comprises, for example, a mobile radio communication network and / or a WLAN network.
  • the mobile terminal is a mobile phone, a smartphone, a tablet or a laptop.
  • the mobile terminal sends a stop signal to the vehicle in response to a detection of a stop request, which stops in response to a reception of the stop signal with the implementation of the parking.
  • the technical advantage is caused that the user can cancel the parking process in case of a problem.
  • This remotely or remotely. This means that the owner of the vehicle can intervene at any time in the automatic parking process and stop the vehicle. For example, if the automatic parking operation would fail because of an unrecognized obstacle, but this will be due to the transmitted video image to the owner's mobile device recognizable.
  • any possible damage to the vehicle or damage to other objects can be avoided in an advantageous manner.
  • the mobile terminal detects this stop request.
  • the mobile terminal is designed to detect a stop request.
  • the detection comprises, for example, an acoustic and / or haptic and / or tactile and / or visual detection.
  • the mobile terminal sends a stop signal to the vehicle in response to a two-time detection of a stop request, which stops in response to a receipt of the stop signal with the implementation of the parking.
  • a stop request which stops in response to a receipt of the stop signal with the implementation of the parking.
  • the driver has to express a stop request twice before the mobile terminal sends a stop signal to the vehicle.
  • the transmission of the stop signal is secured by a two-time confirmation of the owner at his mobile terminal.
  • a secure data connection between the mobile terminal and the vehicle is set up or formed.
  • a secure data connection is in particular an encrypted data connection. This will For example, the technical advantage causes unauthorized persons can not cancel the automatic parking process.
  • a message is sent to the parking space management system to inform the parking space management system that a problem has occurred in the parking space.
  • the technical advantage in particular that the parking space management system knows that an automatic parking process has been interrupted is brought about. Since this usually has its cause in the fact that unforeseen obstacles exist, the parking management system is given the opportunity here, if necessary, to intervene manually and eliminate the obstacle. Thus, advantageously, the automatic parking can be continued quickly after the removal of the obstacle.
  • the stop signal may in particular also be referred to as an emergency stop signal.
  • the stop signal is also sent in particular via the communication network.
  • a plurality of video images are taken of the implementation of the automatic parking of the vehicle.
  • the video images are recorded at different times. This means that the implementation of the automatic parking of the vehicle can be tracked in time.
  • the multiple video images are sent to the mobile terminal.
  • the at least one video image comprises a video image of a parking area on which the vehicle is to be automatically parked.
  • the technical advantage is effected that the end position, ie the position in which the Vehicle should be parked automatically, so here is the parking area, recognizable to a driver. This can thus accurately monitor the parking process at the target position, ie at the parking area. Because usually there is a cramped situation here.
  • a parking area in the sense of the present invention is in particular a parking lot or a parking space.
  • a parking area is a storage area for a vehicle on which the vehicle can park, ie be parked.
  • An in-vehicle camera is, for example, a stereo video camera or a multifunction / mono camera.
  • the video camera is a video camera providing top-view functionality.
  • a plurality of in-vehicle cameras are provided, which respectively record or record corresponding video images, wherein the recorded video images are then sent to the mobile terminal.
  • a plurality of viewing angles of the different in-vehicle cameras of the vehicle are available to the user of the terminal.
  • the vehicle-external camera is an in-vehicle camera of another vehicle.
  • a plurality of cameras external to the vehicle are provided. That is to say, that at least one vehicle-internal camera of another vehicle takes over the automatic parking of the vehicle, the corresponding video images then being sent to the mobile terminal.
  • Parkens can be performed, namely by means of the vehicle external cameras.
  • the video images of the in-vehicle camera of the further vehicle via a cloud infrastructure for example via a cloud infrastructure of a social network, the mobile terminal are provided.
  • an off-vehicle monitoring system tracks the vehicle during the execution of the automatic parking and communicates with the vehicle during the tracking for the purpose of determining the position of the vehicle, wherein a correspondingly determined vehicle position for position tracking is transmitted to the mobile terminal.
  • the technical advantage is effected that, in addition to the optical monitoring, positions of the vehicle are also sent to the mobile terminal.
  • the monitoring system recognizes and identifies a license plate of the vehicle, so that the vehicle can be recognized by its license plate.
  • the vehicle-external monitoring system is preferably comprised of a parking system, in particular a parking garage.
  • a parking system in particular a parking garage.
  • the car park management system is aware of where the car is going to go and the "trail" of the surveillance cameras can be determined to track the vehicle through the car park.
  • a replacement parking space is then requested in the car park management system, which determines a new target position, so that a new tracking can be performed via the security cameras or surveillance cameras of the vehicle-external monitoring system of the parking garage.
  • the communication itself is preferably based on standard Ethernet - ie networking such as a PC network or via WiFi (WLAN) or via proprietary security networks of building technology or other communication techniques known to those skilled in the art.
  • standard Ethernet - ie networking such as a PC network or via WiFi (WLAN) or via proprietary security networks of building technology or other communication techniques known to those skilled in the art.
  • an off-vehicle monitoring system which in particular has one or more surveillance cameras.
  • the surveillance system generally includes a video capture device having one or more surveillance cameras.
  • the surveillance cameras can represent reference points for the progress of the automatic parking process, wherein preferably the surveillance cameras after successful identification (for example by detecting the number plate of the vehicle) the surveillance image, so the captured video image, to the owner of the vehicle, so to the mobile device to play or send.
  • the mobile terminal comprises a display unit, for example a screen, in particular a touch screen, for displaying the transmitted video image.
  • a display unit for example a screen, in particular a touch screen, for displaying the transmitted video image.
  • Embodiments with regard to the device, the system and the parking system result analogously from embodiments with regard to the method and vice versa.
  • Corresponding statements made in connection with the method apply analogously to the device, the system and the parking system and vice versa.
  • FIG. 12 is a flowchart of a method for monitoring automatic parking of a vehicle.
  • a step 101 at least one video image is taken of a performance of the automatic parking of the vehicle.
  • the captured video image is sent to a mobile terminal.
  • the mobile terminal is, for example, a smartphone.
  • the transmission is carried out in particular via a communication network.
  • the mobile terminal in particular displays the recorded video image.
  • Fig. 2 shows an apparatus 201 for monitoring automatic parking of a vehicle.
  • the device 201 includes a video capture device 203 for capturing a video image of performing automatic parking. Furthermore, the device 201 comprises a communication interface, which is designed to transmit the recorded video image to a mobile terminal.
  • the video capture device 201 includes one or more video cameras according to an embodiment not shown.
  • the video cameras are, for example, in-vehicle and / or vehicle-external video cameras. That means in particular that during the automatic parking of the vehicle, in-vehicle video cameras video images of a vehicle environment record and send these captured video images to the mobile device.
  • the video-external video cameras are in-vehicle video cameras of other vehicles and / or surveillance cameras of a surveillance system.
  • Fig. 3 shows a system 301 for monitoring automatic parking of a vehicle.
  • the system 301 comprises the device 201 of the Fig. 2 and a mobile terminal 303 having a communication interface 305 configured to receive the captured video image.
  • the mobile terminal 303 is, for example, a smartphone.
  • the mobile terminal 303 comprises, for example, a display unit for displaying the received video image.
  • Fig. 4 shows a parking system 401 for parking vehicles.
  • the parking system 401 comprises the device 201 of the Fig. 2 and one or more parking lots 403 for parking vehicles.
  • the plurality of parking spaces are associated with a parking garage.
  • the parking system comprises a parking garage having a plurality of parking spaces for parking vehicles as well as the device according to the invention.
  • the invention thus encompasses, in particular, the idea of extending known automatic parking methods in such a way that vehicle tracking is provided as a video image and that a video image is also provided at the parking position, in particular at the end of the parking process.

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Theoretical Computer Science (AREA)
  • Multimedia (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Human Computer Interaction (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Traffic Control Systems (AREA)
  • Alarm Systems (AREA)
  • Closed-Circuit Television Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Claims (8)

  1. Procédé pour surveiller un stationnement automatique d'un véhicule, dans lequel au moins une image vidéo d'une exécution du stationnement automatique du véhicule est acquise (101) et est envoyée (103) à un terminal mobile, dans lequel ladite au moins une image vidéo comprend une image vidéo acquise au moyen d'une caméra externe au véhicule, dans lequel la caméra externe au véhicule est une caméra interne au véhicule d'un autre véhicule.
  2. Procédé selon la revendication 1, dans lequel ladite au moins une image vidéo comprend une image vidéo d'une aire de stationnement sur laquelle le véhicule doit être stationné automatiquement.
  3. Procédé selon l'une des revendications précédentes, dans lequel un système de surveillance externe au véhicule suit le véhicule pendant l'exécution du stationnement automatique et communique avec le véhicule pendant le suivi en vue de déterminer la position du véhicule, dans lequel une position de véhicule déterminée de manière correspondante est envoyée au terminal mobile pour le suivi de position.
  4. Procédé selon l'une des revendications précédentes, dans lequel le terminal mobile transmet au véhicule, en réponse à une détection d'une demande d'arrêt, un signal d'arrêt, lequel véhicule qui s'arrête en réponse à une réception du signal d'arrêt avec exécution du stationnement.
  5. Procédé selon la revendication 4, dans lequel, en cas d'exécution d'un stationnement automatique dans une place de stationnement surveillée par un système de gestion de places de stationnement, un message est envoyé au système de gestion de places de stationnement en réponse à la détection de la demande d'arrêt afin d'informer le système de gestion de places de stationnement qu'un problème s'est produit dans la place de stationnement.
  6. Dispositif (201) pour surveiller un stationnement automatique d'un véhicule, comprenant un moyen de détection vidéo (203) pour acquérir une image vidéo d'une exécution du stationnement automatique et une interface de communication (205) conçue pour envoyer l'image vidéo enregistrée à un terminal mobile, dans lequel le moyen de détection vidéo (203) comprend une caméra externe au véhicule, dans lequel la caméra externe au véhicule est une caméra interne au véhicule d'un autre véhicule,
    dans lequel ladite au moins une image vidéo comprend une image vidéo acquise au moyen de la caméra externe au véhicule.
  7. Système (301) pour surveiller le stationnement automatique d'un véhicule, comprenant le dispositif (201) selon la revendication 6 et un terminal mobile (303) pourvu d'une interface de communication (305) et conçu pour recevoir l'image vidéo acquise.
  8. Système de stationnement (401) pour le stationnement de véhicules, comprenant une ou plusieurs places de stationnement (403) pour le stationnement de véhicules et le dispositif (201) selon la revendication 6.
EP15748029.4A 2014-09-19 2015-08-04 Procédé et dispositif pour surveiller un stationnement automatique d'un véhicule Active EP3195186B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102014218921.7A DE102014218921A1 (de) 2014-09-19 2014-09-19 Verfahren und Vorrichtung zum Überwachen eines automatischen Parkens eines Fahrzeugs
PCT/EP2015/067941 WO2016041689A1 (fr) 2014-09-19 2015-08-04 Procédé et dispositif pour surveiller un stationnement automatique d'un véhicule

Publications (2)

Publication Number Publication Date
EP3195186A1 EP3195186A1 (fr) 2017-07-26
EP3195186B1 true EP3195186B1 (fr) 2019-11-13

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EP15748029.4A Active EP3195186B1 (fr) 2014-09-19 2015-08-04 Procédé et dispositif pour surveiller un stationnement automatique d'un véhicule

Country Status (6)

Country Link
US (1) US10453340B2 (fr)
EP (1) EP3195186B1 (fr)
JP (1) JP6573971B2 (fr)
CN (1) CN107074279A (fr)
DE (1) DE102014218921A1 (fr)
WO (1) WO2016041689A1 (fr)

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KR20200084464A (ko) * 2018-12-27 2020-07-13 현대자동차주식회사 자율 발렛 주차를 지원하는 시스템 및 방법, 그리고 이를 위한 인프라 및 차량
CN109579798A (zh) * 2018-12-29 2019-04-05 中国汽车技术研究中心有限公司 一种应用于自动泊车系统的视频量测方法及量测装置
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CN111613066A (zh) * 2020-06-24 2020-09-01 威视安网络设备科技无锡有限公司 一种机动车不依法停车让行行为的自动取证系统和方法
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CN112562411B (zh) * 2020-12-04 2022-04-22 中国联合网络通信集团有限公司 获取自主代客泊车视频的方法和系统
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US10453340B2 (en) 2019-10-22
DE102014218921A1 (de) 2016-03-24
JP2017535991A (ja) 2017-11-30
JP6573971B2 (ja) 2019-09-11
CN107074279A (zh) 2017-08-18
WO2016041689A1 (fr) 2016-03-24
EP3195186A1 (fr) 2017-07-26
US20170278394A1 (en) 2017-09-28

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